def position(self, position: npt.ArrayLike): position = np.asarray(position) if np.any((position < self.min_position) | (self.max_position < position)): raise ValueError("The position exceeds the robot's limits.") assert self.model.to_gazebo().reset_joint_positions(position.tolist())
def target_velocity(self, velocity: npt.ArrayLike): velocity = np.asarray(velocity) if np.any((velocity < self.min_velocity) | (self.max_velocity < velocity)): raise ValueError("The target velocity exceeds the robot's limits.") assert self.model.set_joint_velocity_targets(velocity.tolist())
def velocity(self, velocity: npt.ArrayLike): velocity = np.asarray(velocity) if np.any((velocity < self.min_velocity) | (self.max_velocity < velocity)): raise ValueError("The velocity exceeds the robot's limits.") assert self.model.to_gazebo().reset_joint_velocities(velocity.tolist())
def target_acceleration(self, acceleration: npt.ArrayLike): acceleration = np.asarray(acceleration) if np.any((acceleration < self.min_acceleration) | (self.max_acceleration < acceleration)): raise ValueError( "The target acceleration exceeds the robot's limits.") assert self.model.set_joint_acceleration_targets(acceleration.tolist())